A plugin for computing the score of the scan and dock task. This plugin derives from the generic ScoringPlugin class. Check out that plugin for other required SDF elements. This plugin requires the following SDF parameters: More...

#include <scan_dock_scoring_plugin.hh>

Inheritance diagram for ScanDockScoringPlugin:

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Public Member Functions
	ScanDockScoringPlugin ()

Public Member Functions inherited from ScoringPlugin
void	Exit ()
	Shutdown Gazebo and ROS. More...

	ScoringPlugin ()
	Class constructor. More...

Private Member Functions
void	Load (gazebo::physics::WorldPtr _world, sdf::ElementPtr _sdf)

void	OnReady () override
	Callback executed when the task state transition into "ready". More...

void	OnRunning () override
	Callback executed when the task state transition into "running". More...

bool	ParseSDF (sdf::ElementPtr _sdf)
	Parse all SDF parameters. More...

void	Update ()
	Callback executed at every world update. More...

Private Attributes
double	colorBonusPoints = 10.0
	Points granted when the color sequence is correct. More...

std::unique_ptr< ColorSequenceChecker >	colorChecker
	In charge of receiving the team submission and compare it with the color sequence from the light buoy. More...

bool	colorSubmissionProcessed = false
	Whether we have processed the color sequence submission or not. More...

std::string	colorTopic
	Name of colorTopic for the light buoy. More...

double	correctDockBonusPoints = 10.0
	Points granted when the vehicle successfully dock-and-undock in the specified bay. More...

double	dockBonusPoints = 10.0
	Points granted when the vehicle successfully dock-and-undock in any bay. More...

std::vector< std::unique_ptr< DockChecker > >	dockCheckers
	Monitor all the available bays to decide when the vehicle docks. More...

bool	enableColorChecker = true
	To check colors or not. More...

std::vector< std::string >	expectedSequence
	Expected color sequence. More...

gazebo::transport::PublisherPtr	lightBuoySequencePub
	Publish the color sequence. More...

gazebo::transport::NodePtr	node
	gazebo Node More...

gazebo::event::ConnectionPtr	updateConnection
	Pointer to the update event connection. More...

Additional Inherited Members
Protected Member Functions inherited from ScoringPlugin
gazebo::common::Time	ElapsedTime () const
	Elapsed time in the running state. More...

void	Finish ()
	Finish the current task. This will set the "finished" flag in the task message to true. More...

double	GetRunningStateDuration ()
	Get running duration. More...

double	GetTimeoutScore ()
	Get the timeoutScore. More...

void	Load (gazebo::physics::WorldPtr _world, sdf::ElementPtr _sdf)

virtual void	ReleaseVehicle ()
	Tries to release the vehicle in case is locked. More...

gazebo::common::Time	RemainingTime () const
	Remaining time in the running state. More...

double	Score () const
	Get the current score. More...

void	SetScore (double _newScore)
	Set the score. More...

void	SetTimeoutScore (double _timeoutScore)
	Set the score in case of timeout. More...

std::string	TaskName () const
	Get the task name. More...

std::string	TaskState () const
	Get the task state. More...

Protected Attributes inherited from ScoringPlugin
gazebo::common::Time	lastCollisionTime
	Last collision time. More...

double	runningStateDuration = 300.0
	Duration (seconds) of the running state (max task time). More...

vrx_gazebo::Task	taskMsg
	The next task message to be published. More...

std::string	taskName = "undefined"
	The name of the task. More...

ros::Publisher	taskPub
	Publisher for the task state. More...

gazebo::physics::ModelPtr	vehicleModel
	Pointer to the vehicle to score. More...

std::string	vehicleName
	The name of the vehicle to score. More...

gazebo::physics::WorldPtr	world
	A world pointer. More...

Detailed Description

A plugin for computing the score of the scan and dock task. This plugin derives from the generic ScoringPlugin class. Check out that plugin for other required SDF elements. This plugin requires the following SDF parameters:

<enable_color_checker>: Optional parameter to turn off color checker service - default is true. <robot_namespace>: Optional parameter with the ROS namespace. <color_sequence_service>: Optional paramter with the ROS service used to receive the color submission. <color_topic>: Optional gazebo topic used to publish the color sequence defaults to /vrx/light_buoy/new_pattern <color_1>: Expected first color of the sequence (RED, GREEN, BLUE, YELLOW). <color_2>: Expected second color of the sequence (RED, GREEN, BLUE, YELLOW). <color_3>: Expected third color of the sequence (RED, GREEN, BLUE, YELLOW). <color_bonus_points>: Points granted when the color sequence is correct. Default value is 10. <bays>: Contains at least one of the following blocks: <bay>: A bay represents a potential play where a vehicle can dock. It has the following required elements: <name>The name of the bay. This is used for debugging only. <internal_activation_topic>The gazebo topic used to receive notifications from the internal activation zone. <external_activation_topic>The gazebo topic used to receive notifications from the external activation zone. <min_dock_time>Minimum amount of seconds to stay docked to be considered a fully successfull dock. <dockAllowed> Whether is allowed to dock in this bay or not. <dock_bonus_points>: Points granted when the vehicle successfully dock-and-undock in any bay. Default value is 10. <correct_dock_bonus_points>: Points granted when the vehicle successfully dock-and-undock in the specified bay. Default value is 10. <symbol>: Required string with format <COLOR>_<SHAPE>, where color can be "red", "green", "blue", "yellow" and color can be "triangle", "circle", "cross". If this parameter is present, a ROS message will be sent in OnReady(). The vehicle should dock in the bay matching this color and shape.

Here's an example: <plugin name="scan_dock_scoring_plugin" filename="libscan_dock_scoring_plugin.so">

<vehicle>wamv</vehicle> <task_name>scan_dock</task_name> <initial_state_duration>3</initial_state_duration> <ready_state_duration>3</ready_state_duration> <running_state_duration>300</running_state_duration> <release_joints> <joint> <name>wamv_external_pivot_joint</name> </joint> <joint> <name>wamv_external_riser</name> </joint> </release_joints>

<robot_namespace>vrx</robot_namespace> <color_sequence_service>scan_dock/color_sequence</color_sequence_service> <color_1>red</color_1> <color_2>green</color_2> <color_3>blue</color_3>

<bays> <bay> <name>bay1</name> <internal_activation_topic> /vrx/dock_2018/bay_1_internal/contain </internal_activation_topic> <external_activation_topic> /vrx/dock_2018/bay_1_external/contain </external_activation_topic> <min_dock_time>10.0</min_dock_time> <dock_allowed>false</dock_allowed> </bay>

<bay> <name>bay2</name> <internal_activation_topic> /vrx/dock_2018/bay_2_internal/contain </internal_activation_topic> <external_activation_topic> /vrx/dock_2018/bay_2_external/contain </external_activation_topic> <min_dock_time>10.0</min_dock_time> <dock_allowed>true</dock_allowed> <symbol>red_circle</symbol> </bay> </bays> </plugin>

Definition at line 306 of file scan_dock_scoring_plugin.hh.